A5073049605- Ergonomics and Musculoskeletal Disorders
- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Human-Automation Interaction and Safety
- Muscle activation and electromyography studies
- Musculoskeletal pain and rehabilitation
- Balance, Gait, and Falls Prevention
- Ergonomics and Human Factors
- Occupational Health and Safety Research
- Teleoperation and Haptic Systems
- Tactile and Sensory Interactions
- Robotic Locomotion and Control
- Gaze Tracking and Assistive Technology
- Stroke Rehabilitation and Recovery
- Modular Robots and Swarm Intelligence
- Social Robot Interaction and HRI
- Manufacturing Process and Optimization
- Visual perception and processing mechanisms
- Color perception and design
- Anomaly Detection Techniques and Applications
- Occupational Health and Performance
- Motor Control and Adaptation
- Healthcare Technology and Patient Monitoring
- Healthcare during COVID-19 Pandemic
- Interactive and Immersive Displays
Italian Institute of Technology
2017-2025
Interface (United States)
2023
Institute of Informatics and Telematics
2023
Politecnico di Milano
2018-2020
Vrije Universiteit Brussel
2019
Institute of Electrical and Electronics Engineers
2019
Gorgias Press (United States)
2019
Musculoskeletal disorders, the single largest category of workrelated injuries in many industrial countries, are associated with very high costs terms lost productivity. In highvolume production facilities, large parts workstation should ideally be adapted to individual workers real time prevent such injuries. However, smaller lines, especially those found small and medium enterprises (SMEs), regularly adapting entire accommodate flexibility is a major challenge. A solution problem...
This letter presents a novel teleoperation interface that enables remote loco-manipulation control of MObile Collaborative robotic Assistant (MOCA). MOCA is new research platform developed at the Istituto Italiano di Tecnologia (IIT), which composed lightweight manipulator arm, Pisa/IIT SoftHand, and mobile driven by four omni-directional wheels. A whole-body impedance controller consequently to ensure accurate tracking position trajectories end-effector considering causal interactions in...
Human-robot collaborative assembly systems enhance the efficiency and productivity of workplace but may increase workers' cognitive demand. This paper proposes an online quantitative framework to assess workload induced by interaction with a co-worker, either human operator or industrial robot different control strategies. The approach monitors operator's attention distribution upper-body kinematics benefiting from input images low-cost stereo camera cutting-edge artificial intelligence...
The interpretability of gait analysis studies in people with rare diseases, such as those primary hereditary cerebellar ataxia (pwCA), is frequently limited by the small sample sizes and unbalanced datasets. purpose this study was to assess effectiveness data balancing generative artificial intelligence (AI) algorithms generating synthetic reflecting actual abnormalities pwCA. Gait 30 pwCA (age: 51.6 ± 12.2 years; 13 females, 17 males) 100 healthy subjects 57.1 10.4; 60 40 were collected at...
Abstract Electronics and mechatronics waste is an exponentially increasing environmental issue, especially for wearable devices, due to their widespread diffusion into society short life cycle. To promote enormous benefits (e.g., in assisting visually impaired individuals) a sustainable way, biobased and/or biodegradable organic materials should be used instead of traditional components. This manuscript presents multidisciplinary approach, which bridges science mechatronics, propose the...
Among the numerous risk factors associated to work-related musculoskeletal disorders (WMSD), repetitive and monotonous movements with light-weight tools are one of most frequently cited. Such tasks may indeed result in excessive accumulation local muscle fatigue, causing severe injuries human joints. Accordingly, this paper proposes a new whole-body fatigue model evaluate cumulative effect overloading torque induced on joints over time by light payloads. The proposed is then integrated into...
Work-related musculoskeletal disorders (WMSDs) remain one of the major occupational safety and health problems in European Union nowadays. Thus, continuous tracking workers' exposure to factors that may contribute their develop- ment is paramount. This article introduces an online approach monitor kinematic dynamic quantities on workers, providing spot estimate physical load required daily jobs. A set ergonomic indexes defined account for multiple potential contributors WMSDs, also giving...
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus facilitating the performance of human partner and possibly minimising physical effort needed grasp object. However, altruistic robot behaviours may result in protracted awkward motions, contributing unpleasant sensations by affecting perceived safety social acceptance. This paper investigates whether transferring cognitive science principle that "humans act...
Walking aids for individuals with musculoskeletal frailty or motor disabilities must ensure adequate physical support and assistance to their users. To this end, sensor-enabled human state monitoring estimation are crucial. This paper proposes an innovative approach assessing users' stability while walking WANDER, a novel gait assistive device, by exploiting the correlation between eXtrapolated Center of Mass ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML"...
In this letter, we present a novel wearable feedback interface with the aim to improve human ergonomics in execution of heavy or repetitive industrial tasks. The proposed incorporates reduced-complexity and real-time model for estimation joints' load variations, based on estimated translational displacement center pressure presence external forces loads. Wireless vibrotactile displays are then developed inform humans about excessive overloading body joints by applying appropriate tactile...
When performing lifting tasks at work, the Lifting Index (LI) is widely used to prevent work-related low-back disorders, but it presents criticalities pertaining measurement accuracy and precision. Wearable sensor networks, such as sensorized insoles inertial units, could improve biomechanical risk assessment by enabling computation of an adaptive LI (aLI) that changes over time in relation actual method carrying out lifting. This study aims illustrate concepts mathematics underlying aLI...
The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. FP7 EU project CoDyCo focused the latter these two challenges by exploiting rigid compliant contacts dynamics robot control problem. Regarding former, properly manage interaction side, an estimation human behaviors intentions necessary. In this letter, we present building blocks such a human-in-the-loop controller, validate them simulation iCub humanoid...
In this paper, we propose a control framework for multi-human and mobile-robot collaborative team, that takes into account the co-workers' ergonomic requirements as well demand high flexibility in manufacturing industries. The new MObile Collaborative robotic Assistant (MOCA), which is composed of lightweight manipulator arm, an underactuated hand, mobile platform driven by four omni-directional wheels enabling mobility workspace, able to accomplish multiple tasks wide area with level...
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance usage collaborative robots. This paper proposes a novel human-robot interaction framework in which the robot behaviour is adapted online according to operator's cognitive workload stress. The method exploits generation B-spline trajectories joint space formulation multi-objective optimisation problem adjust total execution time smoothness trajectories....
Human factors and ergonomics are the essential constituents of teleoperation interfaces, which can significantly affect human operator's performance. Thus, a quantitative evaluation these elements ability to establish reliable comparison bases for different interfaces keys select most suitable one particular application. However, works on have so far focused stability analysis transparency improvement systems do not cover important usability aspects. In this article, we propose foundation...
This letter proposes a novel technique for the real-time estimation of human feet ground reaction forces (GRFs) and centers pressure (CoP) from whole-body CoP body configuration. The estimated variables are used overloading torques in joints during double support, with aim to provide an evaluation ergonomics while performing heavy manipulation tasks robot, or when exposed external force. GRFs is achieved using synergistic approach that combines simplified geometrical model learning address...
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as guidance tool for postural adjustments during work. In contrast the existing active wearable systems such exoskeletons, we aim create lightweight intuitive interface, capable guiding its wearers towards more ergonomic healthy working conditions. To achieve this, device called ErgoTac employed three different modalities that are able provide at body segments desired pose. addition, an...
This work presents an ergonomic and interactive human-robot collaboration (HRC) framework, through which new collaborative skills are extracted from a one-shot human demonstration learned Riemannian dynamic movement primitives (DMP). The proposed framework responds to interaction forces adapt the task requirements, while generating virtual "ergonomic forces" that guide toward more postures, based on online monitoring of kinematics-based index. resulting motion is then integrated into...
Physical human–robot interaction is receiving a growing attention from the scientific community. One of main challenges to understand principles governing mutual behaviour during collaborative interactions between humans. In this context, knowledge human whole-body motion and forces plays pivotal role. Current state art methods, however, do not allow one for reliable estimations dynamics physical interaction. This paper builds upon our former work on estimation by proposing probabilistic...